EP3888884B1 - Appareil et procédé de formation aseptique de récipients à partir de parisons en matière thermoplastique - Google Patents

Appareil et procédé de formation aseptique de récipients à partir de parisons en matière thermoplastique Download PDF

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Publication number
EP3888884B1
EP3888884B1 EP21165051.0A EP21165051A EP3888884B1 EP 3888884 B1 EP3888884 B1 EP 3888884B1 EP 21165051 A EP21165051 A EP 21165051A EP 3888884 B1 EP3888884 B1 EP 3888884B1
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Prior art keywords
compressed air
sterile
feeding
line
feeding line
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German (de)
English (en)
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EP3888884A1 (fr
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Marco PARROZZANI
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/08Biaxial stretching during blow-moulding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/08Biaxial stretching during blow-moulding
    • B29C49/10Biaxial stretching during blow-moulding using mechanical means for prestretching
    • B29C49/12Stretching rods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/28Blow-moulding apparatus
    • B29C49/30Blow-moulding apparatus having movable moulds or mould parts
    • B29C49/36Blow-moulding apparatus having movable moulds or mould parts rotatable about one axis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/4284Means for recycling or reusing auxiliaries or materials, e.g. blowing fluids or energy
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/4284Means for recycling or reusing auxiliaries or materials, e.g. blowing fluids or energy
    • B29C49/42845Recycling or reusing of fluid, e.g. pressure
    • B29C49/42855Blowing fluids, e.g. reducing fluid consumption
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/46Component parts, details or accessories; Auxiliary operations characterised by using particular environment or blow fluids other than air
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/58Blowing means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/46Component parts, details or accessories; Auxiliary operations characterised by using particular environment or blow fluids other than air
    • B29C2049/4602Blowing fluids
    • B29C2049/4635Blowing fluids being sterile
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/78Measuring, controlling or regulating
    • B29C49/783Measuring, controlling or regulating blowing pressure
    • B29C2049/7831Measuring, controlling or regulating blowing pressure characterised by pressure values or ranges
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/78Measuring, controlling or regulating
    • B29C49/783Measuring, controlling or regulating blowing pressure
    • B29C2049/7832Blowing with two or more pressure levels
    • B29C2049/7833Blowing with three or more pressure levels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2949/00Indexing scheme relating to blow-moulding
    • B29C2949/07Preforms or parisons characterised by their configuration
    • B29C2949/0715Preforms or parisons characterised by their configuration the preform having one end closed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/02Combined blow-moulding and manufacture of the preform or the parison
    • B29C49/06Injection blow-moulding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C49/00Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42Component parts, details or accessories; Auxiliary operations
    • B29C49/4289Valve constructions or configurations, e.g. arranged to reduce blowing fluid consumption
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29LINDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00Other particular articles
    • B29L2031/712Containers; Packaging elements or accessories, Packages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29LINDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00Other particular articles
    • B29L2031/712Containers; Packaging elements or accessories, Packages
    • B29L2031/7158Bottles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)

Claims (14)

  1. Procédé de formation aseptique de récipients (100) à partir de paraisons en matière plastique, comprenant les étapes de :
    - injecter de l'air comprimé stérile à l'intérieur d'une paraison disposée dans un moule de formage par étirage-soufflage (2) de manière à obtenir un récipient (100) ;
    - évacuer l'air comprimé expulsé du récipient formé (100),
    caractérisé en ce qu'il comprend les étapes de :
    - faire passer au moins une partie de l'air comprimé expulsé évacué du récipient formé (100) à travers un filtre stérile (SF) de manière à obtenir de l'air stérile de récupération ;
    - injecter l'air stérile de récupération dans une autre paraison disposée dans un autre moule de formage (2).
  2. Procédé selon la revendication 1, dans lequel l'air comprimé stérile a une pression maximale de 40 bars (4 MPa), tandis que l'air stérile de récupération a une pression maximale de 20 bars (2 MPa).
  3. Appareil de formage pour former de manière aseptique des récipients (100) à partir de paraisons en matière thermoplastique, comprenant :
    - au moins un poste de formage (1), comprenant un moule de formage (2) définissant une cavité de logement pour une paraison et une buse de soufflage applicable à une embouchure (100a) de la paraison ;
    - un circuit d'alimentation servant à alimenter en air comprimé stérile, comprenant au moins une ligne d'alimentation (5) d'air comprimé stérile vers ladite buse de soufflage et au moins une première ligne de récupération (8) d'air comprimé expulsé communiquant sélectivement avec ladite au moins une ligne d'alimentation (5) d'air comprimé, caractérisé en ce qu'il comprend au moins un filtre stérile (SF) disposé le long dudit circuit d'alimentation servant à alimenter en air comprimé.
  4. Appareil de formage selon la revendication 3, comprenant une pluralité de filtres stériles (SF) disposés en série le long dudit circuit d'alimentation servant à alimenter en air comprimé.
  5. Appareil de formage selon la revendication 3 ou 4, dans lequel ledit au moins un filtre stérile (SF) est disposé sur la ligne d'alimentation (5) d'air comprimé stérile, la première ligne de récupération (8) d'air comprimé expulsé étant raccordée à la ligne d'alimentation (5) d'air comprimé stérile en un premier point prédéfini (J) en amont du filtre stérile (SF).
  6. Appareil de formage selon la revendication 5, comprenant :
    - une base fixe ;
    - un carrousel rotatif sur lequel est disposé le poste de formage (1) ;
    - au moins un joint rotatif sur la ligne d'alimentation (5) d'air comprimé stérile, ledit au moins un joint rotatif établissant un raccordement entre le carrousel rotatif et la base fixe,
    ledit au moins un filtre stérile (SF) étant disposé en amont dudit au moins un joint rotatif.
  7. Appareil de formage selon la revendication 5 ou 6, dans lequel le circuit d'alimentation servant à alimenter en air comprimé stérile comprend une première ligne d'alimentation (4) en air comprimé stérile ayant une pression maximale de 40 bars et une deuxième ligne d'alimentation (5) en air comprimé stérile ayant une pression maximale de 15 bars, ladite première ligne de récupération (8) d'air comprimé expulsé étant raccordée à la deuxième ligne d'alimentation (5) en air comprimé stérile.
  8. Appareil de formage selon la revendication 3 ou 4, dans lequel ledit au moins un filtre stérile (SF) est disposé sur la première ligne de récupération (8) d'air comprimé expulsé, ladite au moins une première ligne de récupération (8) d'air comprimé expulsé étant raccordée à la ligne d'alimentation (5) d'air comprimé stérile en un deuxième point prédéfini (K) en aval du filtre stérile (SF).
  9. Appareil de formage selon la revendication 8, comprenant :
    - une base fixe ;
    - un carrousel rotatif sur lequel est disposé le poste de formage (1) ;
    - au moins un joint rotatif sur la ligne d'alimentation (5) d'air comprimé stérile, ledit au moins un joint rotatif établissant un raccordement entre le carrousel rotatif et la base fixe,
    ledit second point prédéfini (K) étant en aval dudit au moins un joint rotatif.
  10. Appareil de formage selon la revendication 8 ou 9, dans lequel le circuit d'alimentation servant à alimenter en air comprimé stérile comprend une première ligne d'alimentation (4) d'air comprimé stérile ayant une pression maximale de 40 bars et une deuxième ligne d'alimentation (5) de ligne comprimée stérile ayant une pression maximale de 15 bars, ladite première ligne de récupération (8) d'air comprimé expulsé étant raccordée à la deuxième ligne d'alimentation (5) d'air comprimé stérile.
  11. Appareil de formage selon les revendications 8 à 10, dans lequel le circuit d'alimentation servant à alimenter en air comprimé stérile comprend de plus :
    - une troisième ligne d'alimentation (6) d'air comprimé stérile ayant une pression intermédiaire entre celle de la première ligne d'alimentation (4) et celle de la deuxième ligne d'alimentation (5) ;
    - une deuxième ligne de récupération (9) d'air comprimé expulsé communiquant sélectivement avec ladite troisième ligne d'alimentation (6), un filtre stérile supplémentaire (SF) étant disposé le long de ladite deuxième ligne de récupération (9).
  12. Appareil de formage selon la revendication 7 ou 10 ou 11, comprenant des premiers moyens de vanne (P1, P2, PX) configurés pour établir une communication sélective entre les lignes d'alimentation (4, 5, 6) d'air comprimé stérile et la buse de soufflage.
  13. Appareil selon la revendication 12, comprenant de plus des seconds moyens de vanne (AR, ARX) configurés pour établir une communication sélective entre l'une des lignes de récupération (8 ; 9) et la ligne d'alimentation (5, 6) correspondante.
  14. Appareil selon les revendications 3 à 13, comprenant au moins une entrée (13) pour une substance stérilisante, ladite au moins une entrée (13) communiquant sélectivement avec ladite au moins une ligne d'alimentation (5) d'air comprimé stérile.
EP21165051.0A 2020-03-30 2021-03-25 Appareil et procédé de formation aseptique de récipients à partir de parisons en matière thermoplastique Active EP3888884B1 (fr)

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IT202000006583 2020-03-30

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EP3888884A1 EP3888884A1 (fr) 2021-10-06
EP3888884B1 true EP3888884B1 (fr) 2022-05-04

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US (1) US11613064B2 (fr)
EP (1) EP3888884B1 (fr)
JP (1) JP7350801B2 (fr)
CN (1) CN113459473A (fr)

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DE102021127436A1 (de) * 2021-10-21 2023-04-27 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Blasformen von Behältnissen mit beweglichem Bodenteil

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DE4340291A1 (de) 1993-11-26 1995-06-01 Krupp Corpoplast Masch Mehrfachnutzung von Blasluft
US6692684B1 (en) 1998-04-07 2004-02-17 Tetra Laval Holdings & Finance S.A. Method and apparatus for producing a sterile packaging container
US20040173949A1 (en) 2001-07-20 2004-09-09 Savino Storione Container blowing device
DE102004041973B3 (de) 2004-08-31 2006-01-19 Krones Ag Luftrecycling im Blasformprozess
DE102004044260A1 (de) 2004-09-14 2006-04-06 Sig Technology Ltd. Verfahren und Vorrichtung zur Blasformung von Behältern
DE102007015105A1 (de) 2007-03-29 2008-10-02 Krones Ag Verfahren zum Blasformen
DE102009019008A1 (de) 2009-04-16 2010-10-21 Khs Corpoplast Gmbh & Co. Kg Verfahren und Vorrichtung zur Blasformung von Behältern
EP2246176A1 (fr) 2009-04-28 2010-11-03 Gea Procomac S.p.A. Appareil de fabrication de conteneurs à partir de préformes
US20110286899A1 (en) 2010-05-20 2011-11-24 Oliver Martini Apparatus and method of cleaning gas in blow moulding machines
DE102010022132A1 (de) 2010-05-20 2011-11-24 Krones Ag Blasmaschine mit Zuleitungssterilisation
DE102011013124A1 (de) 2011-03-04 2012-09-06 Krones Aktiengesellschaft Sterile Blasformmaschine mit unsteriler Medienzuführung
DE102011105744A1 (de) 2011-06-24 2013-01-10 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umformen von Kunststoffvorformlingen zu Kunststoffbehältnissen mit abgedichteter Reckstangenbewegung
DE102011110962A1 (de) 2011-08-18 2013-02-21 Khs Corpoplast Gmbh Verfahren und Vorrichtung zur Blasformung von Behältern
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Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4488863A (en) 1981-02-23 1984-12-18 The Continental Group, Inc. Recycling of blow air
DE4340291A1 (de) 1993-11-26 1995-06-01 Krupp Corpoplast Masch Mehrfachnutzung von Blasluft
US6692684B1 (en) 1998-04-07 2004-02-17 Tetra Laval Holdings & Finance S.A. Method and apparatus for producing a sterile packaging container
US20040173949A1 (en) 2001-07-20 2004-09-09 Savino Storione Container blowing device
DE102004041973B3 (de) 2004-08-31 2006-01-19 Krones Ag Luftrecycling im Blasformprozess
DE102004044260A1 (de) 2004-09-14 2006-04-06 Sig Technology Ltd. Verfahren und Vorrichtung zur Blasformung von Behältern
DE102007015105A1 (de) 2007-03-29 2008-10-02 Krones Ag Verfahren zum Blasformen
DE102009019008A1 (de) 2009-04-16 2010-10-21 Khs Corpoplast Gmbh & Co. Kg Verfahren und Vorrichtung zur Blasformung von Behältern
EP2246176A1 (fr) 2009-04-28 2010-11-03 Gea Procomac S.p.A. Appareil de fabrication de conteneurs à partir de préformes
US20110286899A1 (en) 2010-05-20 2011-11-24 Oliver Martini Apparatus and method of cleaning gas in blow moulding machines
DE102010022132A1 (de) 2010-05-20 2011-11-24 Krones Ag Blasmaschine mit Zuleitungssterilisation
EP2388128B1 (fr) 2010-05-20 2017-09-06 Krones AG Dispositif et procédé de nettoyage de gaz dans des souffleuses
DE102011013124A1 (de) 2011-03-04 2012-09-06 Krones Aktiengesellschaft Sterile Blasformmaschine mit unsteriler Medienzuführung
US20140103584A1 (en) 2011-05-10 2014-04-17 Gea Procomac S.P.A. Circuit for exhausting air from a parison, system for supplying and exhausting air from a parison and aseptic moulding process using said circuit and said system
DE102011105744A1 (de) 2011-06-24 2013-01-10 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umformen von Kunststoffvorformlingen zu Kunststoffbehältnissen mit abgedichteter Reckstangenbewegung
DE102011110962A1 (de) 2011-08-18 2013-02-21 Khs Corpoplast Gmbh Verfahren und Vorrichtung zur Blasformung von Behältern
DE102013110132A1 (de) 2013-09-13 2015-03-19 Krones Ag Vorrichtung und Verfahren zum Umformen von Kunststoffvorformlingen mit Blasluftrückgewinnung
DE102018110036A1 (de) 2018-04-26 2019-10-31 Krones Ag Sterilisierbare Blasluftwege und Reckstange einer Blasmaschine

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EP3888884A1 (fr) 2021-10-06
JP2021160362A (ja) 2021-10-11
JP7350801B2 (ja) 2023-09-26
US11613064B2 (en) 2023-03-28
US20210299935A1 (en) 2021-09-30
CN113459473A (zh) 2021-10-01

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